145 lines
5.0 KiB
Python
Executable File
145 lines
5.0 KiB
Python
Executable File
import time
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class BaseMsg:
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def __init__(self, ctrl, msg):
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self.ctrl = ctrl
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self.msg = msg
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def stop_force(self):
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"""
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强制停止，但是大部分场景不好用，容易导致 robot 崩坏。
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"""
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self.msg.mode = 0
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self.msg.gait_id = 0
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self.msg.duration = 0
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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self.ctrl.Wait_finish(0, 0)
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def stop(self, wait_time=200):
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self.msg.mode = 11
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self.msg.gait_id = 27
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self.msg.vel_des = [0, 0, 0]
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self.msg.duration = wait_time
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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if wait_time:
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time.sleep(wait_time / 1000)
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def stop_smooth(self, wait_time=300):
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"""平滑停止，采用逐渐减速的方式实现更柔和的停止过程"""
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# 获取当前速度
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current_vel = self.msg.vel_des.copy() if hasattr(self.msg, 'vel_des') and self.msg.vel_des else [0, 0, 0]
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# 如果当前速度已经为零，直接调用普通停止
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if all(abs(v) < 0.01 for v in current_vel):
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self.stop(wait_time)
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return
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# 计算减速步数和每步减速量
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steps = 5 # 减速分5步完成
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step_time = wait_time / steps
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vel_step = [v / steps for v in current_vel]
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# 逐步减速
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for i in range(steps):
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# 计算当前步骤的目标速度
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target_vel = [current_vel[j] - vel_step[j] * (i + 1) for j in range(len(current_vel))]
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# 发送减速命令
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self.msg.mode = 11
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self.msg.gait_id = 26
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self.msg.vel_des = target_vel
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self.msg.duration = step_time
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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time.sleep(step_time / 1000)
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# 最后确保完全停止
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self.msg.vel_des = [0, 0, 0]
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self.msg.duration = step_time
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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time.sleep(step_time / 1000)
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def lie_down(self, wait_time=500):
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"""发送趴下指令
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参数:
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wait_time: 等待时间(毫秒)，默认为500ms
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"""
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assert wait_time != 0 or wait_time > 3000, "wait_time 必须在 0 or > 3000"
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self.msg.mode = 7
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self.msg.gait_id = 1
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self.msg.duration = wait_time
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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if wait_time:
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time.sleep(wait_time / 1000)
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def stand_up(self):
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self.msg.mode = 12
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self.msg.gait_id = 0
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self.msg.life_count += 1
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print(self.msg.pos_des[2])
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# 站立指令核心参数
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self.msg.mode = 12 # 站立模式
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self.msg.gait_id = 0 # 基础步态
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self.msg.life_count += 1 # 确保指令唯一性
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self.msg.pos_des = [0, 0, 0.3] # 目标高度30cm（关键！）
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self.msg.step_height = [0.05, 0.05] # 抬腿高度5cm
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self.msg.vel_des = [0, 0, 0] # 零速度
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self.msg.rpy_des = [0, 0, 0] # 水平姿态
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self.msg.value = 1 # 激活标志位（根据协议文档）
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self.msg.duration = 0 # 持续执行直到完成
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print("\n=== 控制指令详情 ===")
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print(f"模式(mode): {self.msg.mode}")
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print(f"步态ID(gait_id): {self.msg.gait_id}")
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print(f"接触状态(contact): {self.msg.contact}")
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print(f"生命周期(life_count): {self.msg.life_count}")
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print(f"目标速度(vel_des): {self.msg.vel_des}")
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print(f"目标姿态(rpy_des): {self.msg.rpy_des}")
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print(f"目标位置(pos_des): {self.msg.pos_des}")
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print(f"目标加速度(acc_des): {self.msg.acc_des}")
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print(f"控制点(ctrl_point): {self.msg.ctrl_point}")
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print(f"足端位姿(foot_pose): {self.msg.foot_pose}")
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print(f"步高(step_height): {self.msg.step_height}")
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print(f"参数值(value): {self.msg.value}")
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self.ctrl.Send_cmd(self.msg)
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print(self.msg.pos_des[2])
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self.ctrl.Wait_finish(12, 0)
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print(self.msg.pos_des[2])
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# def stand_up(self):
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# # 1. 复位系统
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# self.msg.mode = 0
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# self.msg.life_count += 1
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# self.ctrl.Send_cmd(self.msg)
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# time.sleep(1)
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# # 2. 手动展开腿部（绕过软件限制）
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# for _ in range(3): # 尝试3次
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# # 先降到最低高度（5cm）
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# self.msg.mode = 7
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# self.msg.pos_des = [0, 0, 0.05] # 关键！低于当前高度
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# time.sleep(1)
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# # 再尝试站立
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# self.msg.mode = 12
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# self.msg.pos_des = [0, 0, 0.75] # 分阶段升高
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# self.msg.value = 0x01 # 激活隐藏标志位（根据协议）
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# self.ctrl.Send_cmd(self.msg)
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# time.sleep(2)
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